Struct ConstraintSolver 

pub struct ConstraintSolver {
    pub iterations: u32,
    pub baumgarte: f32,
    pub slop: f32,
    pub warm_starting: bool,
}

Fields

iterations: u32

baumgarte: f32

slop: f32

warm_starting: bool

Implementations

impl ConstraintSolver

pub fn new() -> Self

pub fn solve_row( &self, row: &mut JacobianRow, vel_a: &mut Vec3, omega_a: &mut Vec3, inv_mass_a: f32, inv_inertia_a: Vec3, vel_b: &mut Vec3, omega_b: &mut Vec3, inv_mass_b: f32, inv_inertia_b: Vec3, )

Solve a single JacobianRow given body masses

pub fn solve_rows( &self, rows: &mut Vec<JacobianRow>, vel_a: &mut Vec3, omega_a: &mut Vec3, inv_mass_a: f32, inv_inertia_a: Vec3, vel_b: &mut Vec3, omega_b: &mut Vec3, inv_mass_b: f32, inv_inertia_b: Vec3, )

Multi-iteration PGS for a set of rows (all against single pair)

pub fn warm_start( &self, rows: &[JacobianRow], vel_a: &mut Vec3, omega_a: &mut Vec3, inv_mass_a: f32, inv_inertia_a: Vec3, vel_b: &mut Vec3, omega_b: &mut Vec3, inv_mass_b: f32, inv_inertia_b: Vec3, )

Setup and warm-start rows before solving